ABB FlexLoader Vision Product Manual page 267

Name
PROC UnloadMa-
chine_MAIN_Load_MAIN()
PROC UnLoadMa-
chine_SUB()
LOCAL PROC Unload-
MAIN()
LOCAL PROC Unload-
SUB()
PROC UnLoadMa-
chine_SUB_Load_MAIN()
Common.sys
All the data for tools and work objects is to be stored in the Common system
module. This system module is accessible by all programs, and by storing the data
in this module all programs always have access to the right data. All other data
that is common to all programs as well as program code that is common to all
programs should be stored here.
Routine
CheckInPosition()
DefWorldZones()
DefForbiddenZone()
DefSafeZone()
DefMachineZone()
PowerOnEvent()
QStopEvent()
RestartEvent()
Product manual - FlexLoader Vision
3HAC051771-001 Revision: B
Description
This procedure is for first unloading and then loading the main
chuck in machine tool.
This procedure is for unloading the sub chuck in the machine
tool.
This procedure unloads the detail in the main chuck. Make sure
to use EnterMachine before all loading/unloading and ExitMa-
chine after all loading/unloading.
The unload position is always calculated. X and Y is set to 0 and
Z is calculated with the help from FlexLoader Vision values. To
change the unload position, the work object has to be adjusted
until the position is correct. In this case adjust wMainChuckM1
by running the procedure CalibMainChuck.
This procedure unloads the detail in the sub chuck. Make sure
to use EnterMachine before all loading/unloading and ExitMa-
chine after all loading/unloading.
The unload position is always calculated. X and Y is set to 0 and
Z is calculated with the help from FlexLoader Vision values. To
change the unload position, the work object has to be adjusted
until the position is correct. In this case adjust wSubChuckM1
by running the procedure CalibSubChuck.
This procedure is for first unloading the sub spindle and loading
the main spindle in machine tool.
Description
This routine checks if inconveyor is in position, i.e. ready to take
a new image. It is only to be used if the cell use a in and doesn't
use AUTO_GRAB of images.
Called up automatically when the robot is switched on. From this
routine DefForbiddenZone, DefSafeZone and DefMachineZone
are called up.
Activates a user-defined area where the robot may never be. This
must normally be positioned directly above the robot so that it
cannot make backward bending movements.
Activates a user-defined area where it is safe for the robot to start
its program from the start.
Activates a user-defined area for the machine that the robot
manages. A DOF_LoaderOut signal connects to the zone. The
signal is always high when the robot is outside this zone.
This routine is called on power on event. Fill with suitable code if
needed in application.
This routine is called on quick stop event. Fill with suitable code
if needed in application.
This routine is called on restart event. Fill with suitable code if
needed in application.
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B FlexLoader RAPID reference
B.3 FlexLoader application functionality
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